hristudio/docs/nao6-quick-reference.md

NAO6 Quick Reference

Essential commands for using NAO6 robots with HRIStudio.

Quick Start

1. Start NAO Integration

cd ~/naoqi_ros2_ws
source install/setup.bash
ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab

2. Wake Robot

Press chest button for 3 seconds, or use:

# Via SSH (institution-specific password)
ssh nao@nao.local
# Then run wake-up command (see integration repo docs)

3. Start HRIStudio

cd ~/Documents/Projects/hristudio
bun dev

4. Test Connection

• Open: http://localhost:3000/nao-test
• Click "Connect"
• Test robot commands

Essential Commands

Test Connectivity

ping nao.local                    # Test network
ros2 topic list | grep naoqi      # Check ROS topics

Manual Control

# Speech
ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"

# Movement (robot must be awake!)
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1}}'

# Stop
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0}}'

Monitor Status

ros2 topic echo /naoqi_driver/battery        # Battery level
ros2 topic echo /naoqi_driver/joint_states   # Joint positions

Troubleshooting

Robot not moving: Press chest button for 3 seconds to wake up

WebSocket fails: Check rosbridge is running on port 9090

ss -an | grep 9090

Connection lost: Restart rosbridge

pkill -f rosbridge
ros2 run rosbridge_server rosbridge_websocket

ROS Topics

Commands (Input):

• /speech - Text-to-speech
• /cmd_vel - Movement
• /joint_angles - Joint control

Sensors (Output):

• /naoqi_driver/joint_states - Joint data
• /naoqi_driver/battery - Battery level
• /naoqi_driver/bumper - Foot sensors
• /naoqi_driver/sonar/* - Distance sensors
• /naoqi_driver/camera/* - Camera feeds

WebSocket

URL: ws://localhost:9090

Example message:

{
  "op": "publish",
  "topic": "/speech",
  "type": "std_msgs/String",
  "msg": {"data": "Hello world"}
}

More Information

See nao6-hristudio-integration repository for:

• Complete installation guide
• Detailed usage instructions
• Full troubleshooting guide
• Plugin definitions
• Launch file configurations

Common Use Cases

Make Robot Speak

ros2 topic pub --once /speech std_msgs/String "data: 'Welcome to the experiment'"

Walk Forward 3 Steps

ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

Turn Head Left

ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.8], speed: 0.2}'

Emergency Stop

ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

🚨 Safety Notes

• Always wake up robot before movement commands
• Keep emergency stop accessible
• Start with small movements (0.05 m/s)
• Monitor battery level during experiments
• Ensure clear space around robot

📝 Credentials

Default NAO Login:

• Username: nao
• Password: robolab (institution-specific)

HRIStudio Login:

• Email: sean@soconnor.dev
• Password: password123

🔄 Complete Restart Procedure

# 1. Kill all processes
sudo fuser -k 9090/tcp
pkill -f "rosbridge\|naoqi\|ros2"

# 2. Restart database
sudo docker compose down && sudo docker compose up -d

# 3. Start ROS integration
cd ~/naoqi_ros2_ws && source install/setup.bash
ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab

# 4. Wake up robot (in another terminal)
sshpass -p "robolab" ssh nao@nao.local "python2 -c \"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; naoqi.ALProxy('ALMotion', '127.0.0.1', 9559).wakeUp()\""

# 5. Start HRIStudio (in another terminal)
cd /home/robolab/Documents/Projects/hristudio && bun dev

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📖 For detailed setup instructions, see: NAO6 Complete Integration Guide

✅ Integration Status: Production Ready
🤖 Tested With: NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble